When designing controllers to execute repetitive tasks, one approach is for an individual agent to use a decision making model to coordinate these tasks. Here we consider a task based approach to the problem of persistent multi-agent rendezvous. Task based autonomous behavior has been widely studied [1]}, [2]}, [3]}: complex behaviors are constructed from smaller, simpler tasks. Each individual task is encoded in a vector field (e.g., going to a target state is encoded as an attracting fixed point on the state space). The goal of the autonomous controller is to then coordinate these tasks to achieve said high-level behavior. Ultimately, this coordination can be framed as a form of decision making, which is a large and active area of research.
